Machinekit - The Python Machinetalk Bindings
0 likes52 views
The document provides an overview of Machinekit and its components, including MachineTalk middleware, application services, and configuration management systems. It discusses features such as service discovery, connection flows, and threading in the context of real-time applications. Additionally, it outlines future directions for documentation and testing for the MachineTalk framework.
Machinekit - The Python Machinetalk Bindings
- 2. 2 Overview ● Machinetalk ● pymachinetalk ● Applications ● Outlook
- 4. 4 Machinetalk ● Middleware ● Interaction between RT and non-RT ● Distributed setups ● License abstraction
- 5. 5 LauncherService ● launcher & launchercmd ● mklauncher ● Contact point ● Lists configurations ● Launches new instances
- 6. 6 ConfigService ● config ● configserver ● Distributes Uis ● Running configuration UI 3 12345 UI 2 12345 UI 1 12345
- 7. 7 HalremoteService ● halrcomp & halrcmd ● haltalk ● Remote API Real-time hostClient 1 Real-time environment HAL instance Haltalk abcd efgh Client 2 12345
- 8. 8 ApplicationServices ● status, command, error, file, preview ● mkwrapper ● EMC interface
- 9. 9 ServiceDiscovery ● MDNS/DNS-SD ● .local ● Auto configuration ● Decentralized ● Multicast ● Unicast Client Service Discovery Service Service Discovery Service Service Discovery Service Client
- 10. 10 ConnectionFlow ● Search for launcher services ● List instances UI 3 12345 UI 2 12345 UI 1 12345
- 11. 11 ConnectionFlow ● Filter services ● Look for config – Start instance ● Load UI ● Connect other services UUID
- 12. 12 PyMachinetalk
- 13. 13 Threading ● Asynchronous ● Synchronous ● Locks and conditions
- 14. 14 dns_sd ● avahi & dbus ● gobject ● Service type – _launcher._sub._machinekit._tcp ● Callbacks
- 15. 15 halremote ● Canonical to HAL userland component ● RemoteComponent ● Pin SUBSUB SUB PUB Publish-Subscribe REQ REP ROUTER DEALER REP REP REQREQ Router-Dealer
- 16. 16 application ● ApplicationStatus ● ApplicationCommand ● ApplicationError ● ApplicationFile
- 17. 17 Applications
- 18. 18 Outlook
- 19. 19 Outlook ● Launcher & config ● Documentation ● More examples ● Unit tests for Machinetalk ● …
- 21. 21 Questions?